class Window(QtWidgets.QMainWindow):
#only way I found to get keypressed working
def __init__(self):
super(Window, self).__init__()
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
#PMA Setup, mostly copied from the file-based motion control
try:
USB_DEVICE = 'COM6'
ZABER_ASCII_PORT = AsciiSerial(USB_DEVICE)
print("NUTS!")
self.torch_output = 1
self.wire_output = 2
self.iodev = AsciiDevice(
ZABER_ASCII_PORT, 1) #additional xy dev created to deal w/ io
self.xdev = AsciiDevice(ZABER_ASCII_PORT, 1).axis(1)
self.ydev = AsciiDevice(ZABER_ASCII_PORT, 1).axis(2)
self.zdev = AsciiDevice(ZABER_ASCII_PORT, 2)
self.number_devices = 2
self.xdev.home()
self.ydev.home()
self.zdev.home()
self.cm = 2016
except:
print("No Connection!!")
#wasd control not working currently, leaving it here
def keyPressEvent(self, e):
print("key press")
if e.key() == QtCore.Qt.Key_W:
print('+y')
reply = self.ydev.move_rel(self.cm)
elif e.key() == QtCore.Qt.Key_S:
print('-y')
reply = self.ydev.move_rel(-self.cm)
elif e.key() == QtCore.Qt.Key_A:
print('+x')
reply = self.xdev.move_rel(self.cm)
elif e.key() == QtCore.Qt.Key_D:
print('-x')
reply = self.xdev.move_rel(-self.cm)
elif e.key() == QtCore.Qt.Key_Up:
print('+z')
reply = self.zdev.move_rel(self.cm)
elif e.key() == QtCore.Qt.Key_Down:
print('-z')
reply = self.zdev.move_rel(-self.cm)
def keyReleaseEvent(self, e):
print("key release")
if e.key() == QtCore.Qt.Key_W:
print('0y')
elif e.key() == QtCore.Qt.Key_S:
print('0y')
elif e.key() == QtCore.Qt.Key_A:
print('0x')
elif e.key() == QtCore.Qt.Key_D:
print('0x')
elif e.key() == QtCore.Qt.Key_Up:
print('0z')
elif e.key() == QtCore.Qt.Key_Down:
print('0z')
class Zaber_lin_stage(Instrument):
'''
None
'''
def __init__(self, name, device_number=1):
'''
None
'''
logging.info(__name__ +
' : Initializing instrument Zaber Linear Stage')
Instrument.__init__(self, name, tags=['physical'])
self.add_parameter('position',
units='',
type=types.IntType,
flags=Instrument.FLAG_GETSET +
Instrument.FLAG_GET_AFTER_SET)
self.add_parameter('device_number',
flags=Instrument.FLAG_GET,
type=types.StringType)
self._device_number = device_number
self.step_to_mm = 0.047625e-3
self.client = AsciiDevice(AsciiSerial("COM4"), device_number)
def poll_until_idle(self):
reply = self.client.poll_until_idle()
def home(self):
reply = self.client.home()
def move_rel(self, distance, blocking=True):
reply = self.client.move_rel(distance, blocking)
def move_rel_mm(self, distance, blocking=True):
reply = self.client.move_rel(int(distance / self.step_to_mm), blocking)
def move_abs(self, position, blocking=True):
reply = self.client.move_abs(position, blocking)
def move_abs_mm(self, position, blocking=True):
reply = self.client.move_abs(int(position / self.step_to_mm), blocking)
def move_vel(self, speed, blocking=False):
reply = self.client.move_vel(speed, blocking)
def move_vel_distance(self, vel, distance):
x0 = self.client.get_position()
speed = int(vel / self.step_to_mm)
d = int(distance / self.step_to_mm)
reply = self.client.move_vel(vel)
while (1):
x = self.client.get_position()
if (abs(x - x0) > d):
self.client.stop()
breaktnm
def stop(self):
reply = self.client.stop()
def current_status(self):
reply = self.client.get_status()
def current_position(self):
reply = self.client.get_position()
return reply